CN106863277A - A kind of pneumatic muscles upper limbs assistance exoskeleton system - Google Patents
A kind of pneumatic muscles upper limbs assistance exoskeleton system Download PDFInfo
- Publication number
- CN106863277A CN106863277A CN201710205278.6A CN201710205278A CN106863277A CN 106863277 A CN106863277 A CN 106863277A CN 201710205278 A CN201710205278 A CN 201710205278A CN 106863277 A CN106863277 A CN 106863277A
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- China
- Prior art keywords
- rotating shaft
- bone
- upper arm
- shoulder
- mounting blocks
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/581—Shoulder joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2002/543—Lower arms or forearms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2002/546—Upper arms
Abstract
The invention discloses a kind of pneumatic muscles upper limbs assistance exoskeleton system, including to skeleton before the lateral skeleton of back arms bone, upper arm bone, focile, shoulder and shoulder；The upper end of the back arms bone connects the lateral skeleton of shoulder by the first joint module, is connected by for the pneumatic muscles for driving the first joint module activity between the back arms bone and the lateral skeleton of the shoulder；The upper end of the upper arm bone by being used between skeleton before the upper arm bone and the shoulder before the second joint module connection shoulder by, to skeleton, driving the pneumatic muscles of the second joint module activities to connect；The focile connects the upper arm bone by the 3rd joint module, is connected by for the pneumatic muscles for driving the 3rd joint module activity between the focile and the upper arm bone；A pressure rings are respectively set on the upper arm bone and the focile.It is executive component that the present invention uses pneumatic muscles, and user has good collaboration with exoskeleton system.
Description
Technical field
The present invention relates to a kind of mechanical exoskeleton product technical field, particularly a kind of pneumatic muscles upper limbs assistance exoskeleton
System.
Background technology
Mechanical exoskeleton is the robot towards people, they can be defined as those supplements worn by user or
Instead of the equipment of limbs.Ectoskeleton can be manipulated in the limbs side of user, and motion is coordinated with the four limbs of user,
Or replace a part of limbs of disabled user, cooperated with remainder limbs；But this does not necessarily mean that dermoskeleton
Bone must be moveable or portable, and wherein a big chunk reason is exactly the limit of executive component and power source volume weight
System；Mechanical exoskeleton can be counted as a kind of enhancing, adaptation, the technology of protection wearer's body.Ectoskeleton can be in user
The ability of user is extended on the basis of manipulation, helps user to reach more than the strength of its own；Deformity can also be helped to be made
User controls or replaces its part of limb again, is interacted by using the physics between person and ectoskeleton and perception interactive, allows
User is cooperated with ectoskeleton on perception, decision-making, interaction many levels.
Exoskeleton system of the prior art is driven using motor, hydraulic pressure, air pressure mode mostly, most power-assisteds
Ectoskeleton is driven using hydraulic system.The advantage of motor driven systems is efficiency high, is capable of achieving precise control, easy for installation,
But its efficiency is low with mass ratio, it is difficult to realize using on a large scale in ectoskeleton.The advantage of hydraulic system is power and quality
Than big, high thrust can be produced in small size；But hydraulic system is working media using hydraulic oil, easily produces leakage problem；
And fluid power system efficiency is low, greatly, energy source requirement is high, high cost high to processing request for energy ezpenditure.Baric systerm has
Working media cleaning, efficiency high, lightweight, low cost and other advantages, but power due to cylinder component is low with mass ratio, causes it
It is difficult to be applied on high-power system.
Novel pneumatic element --- pneumatic muscles have excellent power and volume ratio and power and mass ratio, make gas
Pressure driving progressively substitutes hydraulic-driven in exoskeleton system becomes possibility.
The content of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of pneumatic muscles upper limbs assistance exoskeleton system, adopt
Be executive component with pneumatic muscles, user and exoskeleton system in perception, decision-making, interact there is good collaboration with aspect.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of pneumatic muscles upper limbs assistance exoskeleton system, including installed in human body back and with human body back cooperative motion
Back arms bone, the upper arm bone installed in human body upper arm and with human body upper arm cooperative motion, installed in human body forearm and with human body before
The focile of arm cooperative motion, also including the shoulder bone for connecting the back arms bone and the upper arm bone；The shoulder bone bag
Include before the lateral skeleton of shoulder and shoulder to skeleton, L-shaped structure is combined into skeleton before the lateral skeleton of shoulder and the shoulder；
The first joint module is provided with below the lateral skeleton of shoulder, to being provided with second joint below skeleton before the shoulder
Module；The upper end of the back arms bone connects the lateral skeleton of shoulder by first joint module, and the back arms bone and
Connected by for the pneumatic muscles for driving the first joint module activity between the lateral skeleton of shoulder；The upper arm bone
Upper end by the second joint module connect before the shoulder to before skeleton, and the upper arm bone and the shoulder to skeleton
Between by for driving the pneumatic muscles of the second joint module activities to connect；The lower end of the upper arm bone is provided with the 3rd
Joint module, the upper end of the focile connects the lower end of the upper arm bone, and the forearm by the 3rd joint module
Connected by for the pneumatic muscles for driving the 3rd joint module activity between bone and the upper arm bone；The upper arm bone and
The pressure rings for sensing human upper limb locomotion trend are each provided with the focile.
The word of above-mentioned position and region for describing each component, such as lower section, top and bottom etc. each mean and work as institute
Pneumatic muscles upper limbs assistance exoskeleton system is stated on human body and human upper limb is in when naturally drooping state, each component
Position and region spatial relation, similarly hereinafter.
Used as the further improvement of above-mentioned technical proposal, the pressure rings include the first stress induction ring and the second stress sense
The axis collinear of Ying Huan, the first stress induction ring and the second stress induction ring.
Used as the further improvement of above-mentioned technical proposal, the first stress induction ring is by symmetrically arranged first arc in face
Jig arm and the second arc jig arm are constituted, and the second stress induction ring is by the symmetrically arranged 3rd arc jig arm in face and the 4th arc
Jig arm is constituted；The pressure rings also include ring mounting blocks, the first stress grip block and the second stress grip block, first stress
Grip block connects the ring mounting blocks by the first gripper cylinder, and the second stress grip block is connected by the second gripper cylinder
The ring mounting blocks, the first arc jig arm and the 3rd arc jig arm are fixedly mounted on the first stress grip block
On, the second arc jig arm and the 4th arc jig arm are fixedly mounted on the second stress grip block.
Used as the further improvement of above-mentioned technical proposal, the back arms bone is including back arms support frame, installed in the back of the body
Back arms on arm support frame fixes ring seat and the back arms muscle retainer ring fixed in ring seat installed in the back arms；It is described
First joint module includes the first joint rotating shaft, first rotating shaft mounting blocks and first rotating shaft contiguous block, and the first rotating shaft is installed
Block and the first rotating shaft contiguous block are hinged by first joint rotating shaft, and the first rotating shaft mounting blocks are fixedly connected institute
The lateral skeleton of shoulder is stated, the first rotating shaft contiguous block is fixedly connected the back arms support frame；For driving described first to close
Save pneumatic muscles connection the back arms muscle retainer ring and the first rotating shaft mounting blocks of module activities.
Used as the further improvement of above-mentioned technical proposal, the upper arm bone includes upper arm support frame, on described
Upper arm on arm support frame fixes ring seat and the upper arm muscles retainer ring fixed in ring seat installed in the upper arm；It is described
Second joint module includes second joint rotating shaft, the second rotating shaft mounting blocks and the second rotating shaft contiguous block, and second rotating shaft is installed
Block and the second rotating shaft contiguous block are hinged by the second joint rotating shaft, and the second rotating shaft mounting blocks are fixedly connected institute
State before shoulder to skeleton, the second rotating shaft contiguous block is fixedly connected the upper arm support frame；For driving described second to close
Save pneumatic muscles connection the upper arm muscles retainer ring and the second rotating shaft mounting blocks of module activities.
Used as the further improvement of above-mentioned technical proposal, the focile includes forearm support frame, before described
Forearm on arm support frame fixes ring seat and the forearm muscle retainer ring fixed in ring seat installed in the forearm；It is described
3rd joint module includes the 3rd joint rotating shaft, the 3rd rotating shaft mounting blocks and the 3rd rotating shaft contiguous block, and the 3rd rotating shaft is installed
Block and the 3rd rotating shaft contiguous block are hinged by the 3rd joint rotating shaft, and the 3rd rotating shaft mounting blocks are fixedly connected institute
Upper arm support frame is stated, the 3rd rotating shaft contiguous block is fixedly connected the forearm support frame；For driving the 3rd pass
Save pneumatic muscles connection the forearm muscle retainer ring and the 3rd rotating shaft mounting blocks of module activities.
Used as the further improvement of above-mentioned technical proposal, the lower end of the forearm support frame is additionally provided with forearm and holds ring.
Compared with prior art, the beneficial effects of the invention are as follows：
A kind of pneumatic muscles upper limbs assistance exoskeleton system provided by the present invention, it is executive component to use pneumatic muscles,
In addition a pressure rings are respectively installed in upper arm bone and focile and are used to monitor the movement tendency of user, what pressure rings were monitored
The direction of motion and trend needed for exoskeleton system is judged by power is synthesized in all directions, make user and ectoskeleton
System has good collaboration with perception, decision-making, interaction aspect.
Additionally, before the lateral skeleton of exoskeleton system shoulder provided by the present invention, shoulder to skeleton, back arms support frame,
Upper arm support frame and forearm support frame can use Modular Structure Design, so as to reduce being processed into for exoskeleton system
This；And such as NOL ring that is arranged on above-mentioned modularization skeleton, muscle retainer ring and to hold each module position such as ring adjustable, from
And the active length of each skeleton can be adjusted, in order to better adapt to the Arm structure of different users.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of main structure diagram of pneumatic muscles upper limbs assistance exoskeleton system of the present invention；
Fig. 2 is a kind of side structure schematic view of pneumatic muscles upper limbs assistance exoskeleton system of the present invention；
Fig. 3 is a kind of overlooking the structure diagram of pneumatic muscles upper limbs assistance exoskeleton system of the present invention.
Specific embodiment
Referring to figs. 1 to Fig. 3, Fig. 1 to Fig. 3 is a structural representation for specific embodiment of the invention.
As shown in Figure 1 to Figure 3, a kind of pneumatic muscles upper limbs assistance exoskeleton system, including installed in human body back and with
The back arms bone of human body back cooperative motion, the upper arm bone installed in human body upper arm and with human body upper arm cooperative motion, installed in people
Body forearm and with the focile of human body forearm cooperative motion, also including the shoulder for connecting the back arms bone and the upper arm bone
Bone；The shoulder bone is included before the lateral skeleton 11 of shoulder and shoulder to skeleton 12, the lateral skeleton 11 of shoulder and the shoulder
Forward direction skeleton 12 is combined into L-shaped structure；The lower section of the lateral skeleton 11 of shoulder is provided with the first joint module, before the shoulder
The lower section of skeleton 12 is provided with second joint module；The upper end of the back arms bone connects described by first joint module
By for driving first joint mould between the lateral skeleton 11 of shoulder, and the back arms bone and the lateral skeleton 11 of the shoulder
The pneumatic muscles connection of block activity；The upper end of the upper arm bone is connected before the shoulder to skeleton by the second joint module
Before 12, and the upper arm bone and the shoulder the pneumatic of the second joint module activities is driven between skeleton 12 by being used for
Muscle is connected；The lower end of the upper arm bone is provided with the 3rd joint module, and the upper end of the focile passes through the 3rd joint
Module connects the lower end of the upper arm bone, and by for driving the 3rd joint between the focile and the upper arm bone
The pneumatic muscles connection of module activities；One is each provided with the upper arm bone and the focile for sensing human upper limb fortune
The pressure rings of dynamic trend.
Specifically, the pressure rings include the first stress induction ring and the second stress induction ring, first stress induction
The axis collinear of ring and the second stress induction ring.The first stress induction ring is by the symmetrically arranged first arc jig arm in face
21 and second arc jig arm 22 constitute, the second stress induction ring is by the symmetrically arranged 3rd arc jig arm 23 in face and the 4th arc
Clevis arm 24 is constituted；The pressure rings also include ring mounting blocks 25, the first stress grip block 26 and the second stress grip block 27, institute
State the first stress grip block 26 and the ring mounting blocks 25 are connected by the first gripper cylinder 28, the second stress grip block 27 leads to
Cross the second gripper cylinder 29 and connect the ring mounting blocks 25, the first arc jig arm 21 and the 3rd arc jig arm 23 are solid
On the first stress grip block 26, the second arc jig arm 22 and the 4th arc jig arm 24 fix peace for Dingan County
On the second stress grip block 27.The pressure rings of said structure can be monitored perpendicular to three sides of ectoskeleton bone framework
Upward power.
The back arms bone includes that back arms support frame 31, the back arms on the back arms support frame 31 fix ring seat
32 and installed in the back arms fix ring seat 32 on back arms muscle retainer ring 33；First joint module includes first
Joint rotating shaft 41, first rotating shaft mounting blocks 42 and first rotating shaft contiguous block 43, the first rotating shaft mounting blocks 42 and described first
Rotating shaft contiguous block 43 is hinged by first joint rotating shaft 41, and the first rotating shaft mounting blocks 42 are fixedly connected the shoulder
Lateral skeleton 11, the first rotating shaft contiguous block 43 is fixedly connected the back arms support frame 31；For driving described first to close
Save pneumatic muscles connection the back arms muscle retainer ring 33 and the first rotating shaft mounting blocks 42 of module activities.
The upper arm bone includes that upper arm support frame 51, the upper arm on the upper arm support frame 51 fix ring seat
52 and installed in the upper arm fix ring seat 52 on upper arm muscles retainer ring 53；The second joint module includes second
Joint rotating shaft 61, the second rotating shaft mounting blocks 62 and the second rotating shaft contiguous block 63, the second rotating shaft mounting blocks 62 and described second
Rotating shaft contiguous block 63 is hinged by the second joint rotating shaft 61, and the second rotating shaft mounting blocks 62 are fixedly connected the shoulder
Forward direction skeleton 12, the second rotating shaft contiguous block 63 is fixedly connected the upper arm support frame 51；For driving described second to close
Save pneumatic muscles connection the upper arm muscles retainer ring 53 and the second rotating shaft mounting blocks 62 of module activities.
The focile includes that forearm support frame 71, the forearm on the forearm support frame 71 fix ring seat
72 and installed in the forearm fix ring seat 72 on forearm muscle retainer ring 73；3rd joint module includes the 3rd
Joint rotating shaft 81, the 3rd rotating shaft mounting blocks 82 and the 3rd rotating shaft contiguous block 83, the 3rd rotating shaft mounting blocks 82 and the described 3rd
Rotating shaft contiguous block 83 is hinged by the 3rd joint rotating shaft 81, and the 3rd rotating shaft mounting blocks 82 are fixedly connected the upper arm
Support frame 51, the 3rd rotating shaft contiguous block 83 is fixedly connected the forearm support frame 71；For driving the 3rd pass
Save pneumatic muscles connection the forearm muscle retainer ring 73 and the 3rd rotating shaft mounting blocks 82 of module activities.The forearm branch
The lower end of support bone frame 71 is additionally provided with forearm and holds ring 74.
In order to realize the coordination of user and ectoskeleton, ectoskeleton needs the movement tendency of anticipation user, performs phase
Same action, the perception to user's movement tendency is realized in above-mentioned ectoskeleton using pressure rings：Ectoskeleton is in normal state
Articular muscle is in tensioning state, i.e. ectoskeleton joint and integrally can approximately regard as a viscous and entirety, and user is by pressure
Power ring is fixed with ectoskeleton bone framework, when user's arm produces movement tendency, can be hindered by bone pressure rings, leads
Cause, when the pressure increase between front direction bone pressure rings and user's arm, to be reflected as current directional pressure ring cantilever beam shape
Become, cause foil gauge voltage change.
Ectoskeleton detection judges the user's direction of motion trend after front direction stress changes, and control magnetic valve completes current
The rotation in joint, until between user and ectoskeleton pressure stability in 0.The control system of ectoskeleton can be approximately seen as pressure
The control strategy that ring pressure reduces as far as possible；In other words, i.e., user drags whole ectoskeleton using the strength of very little
System.
Preferable implementation of the invention is illustrated above, certainly, the present invention can also be used and above-mentioned implementation
The different form of mode, the equivalent conversion that those of ordinary skill in the art are made on the premise of without prejudice to spirit of the invention
Or corresponding change, should all belong in protection scope of the present invention.
Claims (7)
1. a kind of pneumatic muscles upper limbs assistance exoskeleton system, it is characterised in that：Including being carried on the back installed in human body back and with human body
The back arms bone of portion's cooperative motion, the upper arm bone installed in human body upper arm and with human body upper arm cooperative motion, installed in human body forearm
And with the focile of human body forearm cooperative motion, also including the shoulder bone for connecting the back arms bone and the upper arm bone；Institute
Shoulder bone is stated including, to skeleton, being combined to skeleton before the lateral skeleton of shoulder and the shoulder before the lateral skeleton of shoulder and shoulder
L-shaped structure；The first joint module is provided with below the lateral skeleton of shoulder, is set to the lower section of skeleton before the shoulder
There is second joint module；The upper end of the back arms bone connects the lateral skeleton of shoulder, and institute by first joint module
State and connected by for the pneumatic muscles for driving the first joint module activity between back arms bone and the lateral skeleton of the shoulder；
The upper end of the upper arm bone is connected before the shoulder to skeleton, and the upper arm bone and the shoulder by the second joint module
The pneumatic muscles of the second joint module activities are driven to connect by being used between skeleton before portion；The lower end of the upper arm bone
The 3rd joint module is provided with, the upper end of the focile connects the lower end of the upper arm bone by the 3rd joint module,
And connected by for the pneumatic muscles for driving the 3rd joint module activity between the focile and the upper arm bone；Institute
State and the pressure rings for sensing human upper limb locomotion trend are each provided with upper arm bone and the focile.
2. a kind of pneumatic muscles upper limbs assistance exoskeleton system according to claim 1, it is characterised in that：The pressure rings
Including the first stress induction ring and the second stress induction ring, the axle of the first stress induction ring and the second stress induction ring
Line is conllinear.
3. a kind of pneumatic muscles upper limbs assistance exoskeleton system according to claim 2, it is characterised in that：Described first should
Power inductance loop is made up of the symmetrically arranged first arc jig arm in face and the second arc jig arm, and the second stress induction ring is by facing
The 3rd arc jig arm for setting and the 4th arc jig arm is claimed to constitute；The pressure rings also include that ring mounting blocks, the first stress are clamped
Block and the second stress grip block, the first stress grip block connect the ring mounting blocks by the first gripper cylinder, and described the
Two stress grip blocks connect the ring mounting blocks by the second gripper cylinder, and the first arc jig arm and the 3rd arc are pressed from both sides
Arm is fixedly mounted on the first stress grip block, and the second arc jig arm and the 4th arc jig arm fix peace
On the second stress grip block.
4. a kind of pneumatic muscles upper limbs assistance exoskeleton system according to claim 1, it is characterised in that：The back arms bone
Back arms including back arms support frame, on the back arms support frame is fixed ring seat and is consolidated installed in the back arms
Determine the back arms muscle retainer ring in ring seat；First joint module includes the first joint rotating shaft, first rotating shaft mounting blocks and the
One rotating shaft contiguous block, the first rotating shaft mounting blocks and the first rotating shaft contiguous block are hinged by first joint rotating shaft
Connect, the first rotating shaft mounting blocks are fixedly connected the lateral skeleton of the shoulder, the first rotating shaft contiguous block is fixedly connected described
Back arms support frame；Pneumatic muscles for driving the first joint module activity connect the back arms muscle retainer ring and institute
State first rotating shaft mounting blocks.
5. a kind of pneumatic muscles upper limbs assistance exoskeleton system according to claim 1, it is characterised in that：The upper arm bone
Upper arm including upper arm support frame, on the upper arm support frame is fixed ring seat and is consolidated installed in the upper arm
Determine the upper arm muscles retainer ring in ring seat；The second joint module includes second joint rotating shaft, the second rotating shaft mounting blocks and the
Two rotating shaft contiguous blocks, the second rotating shaft mounting blocks and the second rotating shaft contiguous block are hinged by the second joint rotating shaft
Connect, the second rotating shaft mounting blocks are fixedly connected before the shoulder to skeleton, the second rotating shaft contiguous block is fixedly connected described
Upper arm support frame；Pneumatic muscles for driving the second joint module activities connect the upper arm muscles retainer ring and institute
State the second rotating shaft mounting blocks.
6. a kind of pneumatic muscles upper limbs assistance exoskeleton system according to claim 5, it is characterised in that：The focile
Forearm including forearm support frame, on the forearm support frame is fixed ring seat and is consolidated installed in the forearm
Determine the forearm muscle retainer ring in ring seat；3rd joint module includes the 3rd joint rotating shaft, the 3rd rotating shaft mounting blocks and the
Three rotating shaft contiguous blocks, the 3rd rotating shaft mounting blocks and the 3rd rotating shaft contiguous block are hinged by the 3rd joint rotating shaft
Connect, the 3rd rotating shaft mounting blocks are fixedly connected the upper arm support frame, the 3rd rotating shaft contiguous block is fixedly connected described
Forearm support frame；Pneumatic muscles for driving the 3rd joint module activity connect the forearm muscle retainer ring and institute
State the 3rd rotating shaft mounting blocks.
7. a kind of pneumatic muscles upper limbs assistance exoskeleton system according to claim 6, it is characterised in that：The forearm branch
The lower end of support bone frame is additionally provided with forearm and holds ring.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710205278.6A CN106863277A (en) | 2017-03-31 | 2017-03-31 | A kind of pneumatic muscles upper limbs assistance exoskeleton system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710205278.6A CN106863277A (en) | 2017-03-31 | 2017-03-31 | A kind of pneumatic muscles upper limbs assistance exoskeleton system |
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| CN106863277A true CN106863277A (en) | 2017-06-20 |
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| CN201710205278.6A Pending CN106863277A (en) | 2017-03-31 | 2017-03-31 | A kind of pneumatic muscles upper limbs assistance exoskeleton system |
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Cited By (3)
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|---|---|---|---|---|
| RU181515U1 (en) * | 2017-09-06 | 2018-07-17 | Евгений Михайлович Дудиков | Device for restoring movements in the upper limb |
| CN108926457A (en) * | 2018-07-25 | 2018-12-04 | 京东方科技集团股份有限公司 | Device for healing and training |
| CN113043301A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Moment-adjustable sensing device and self-locking manipulator |
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| RU181515U1 (en) * | 2017-09-06 | 2018-07-17 | Евгений Михайлович Дудиков | Device for restoring movements in the upper limb |
| CN108926457A (en) * | 2018-07-25 | 2018-12-04 | 京东方科技集团股份有限公司 | Device for healing and training |
| CN113043301A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Moment-adjustable sensing device and self-locking manipulator |
| CN113043301B (en) * | 2019-12-27 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Moment-adjustable sensing device and self-locking manipulator |
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